
/// @copyright Copyright (c) 2017 <dji-innovations, Corp. RM Dept.>
/// @license MIT License
/// Permission is hereby granted, free of charge, to any person obtaining a copy
/// of this software and associated documentation files (the "Software"), to deal
/// in the Software without restriction,including without limitation the rights
/// to use, copy, modify, merge, publish, distribute, sublicense,and/or sell
/// copies of the Software, and to permit persons to whom the Software is furnished
/// to do so,subject to the following conditions:
///
/// The above copyright notice and this permission notice shall be included in
/// all copies or substantial portions of the Software.
///
/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
/// THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
/// THE SOFTWARE.
/**
******************************************************************************
* @file    judgement.c
* @author  sillydogJFX
* @version V1.0
* @date    2016/05/19
* @brief
*       FrameHeader(4-Byte) CmdID(2-Byte) Data(n-Byte) FrameTail(2-Byte,CRC16)
******************************************************************************
* @attention
*   BaudRate:115200     WordLength:8Bits    Parity:None     StopBits:1
******************************************************************************
* @update 2017-3-10 17:05:04.
* @changed langgo.
* @this verison support RM2017 judge system.
*/

/* Includes ------------------------------------------------------------------*/
#include "judge_sys.h"
#include "bsp_uart.h"
#include "mytype.h"
#include "sys.h"

/* Defines -------------------------------------------------------------------*/
#define SOF_FIXED 0xA5 //固定帧头字节
#define HEADER_LEN  sizeof(tFrameHeader)
#define CMD_LEN 2 //cmdid 2byte
#define CRC_LEN 2 //crc16

/* Variables -----------------------------------------------------------------*/
int16_t  testNum;
uint8_t  judge_buf[FRAME_BUFLEN];
uint16_t testCmdId;

tFrameHeader          testFrameHeader;
tGameInfo             testGameInfo;
tRealBloodChangedData testRealBloodChangedData;
tRealShootData        testRealShootData;

//crc8 generator polynomial:G(x)=x8+x5+x4+1
const uint8_t CRC8_INIT     = 0xff;
const uint8_t CRC8_TAB[256] = {
    0x00, 0x5e, 0xbc, 0xe2, 0x61, 0x3f, 0xdd, 0x83, 0xc2, 0x9c, 0x7e, 0x20, 0xa3, 0xfd, 0x1f, 0x41,
    0x9d, 0xc3, 0x21, 0x7f, 0xfc, 0xa2, 0x40, 0x1e, 0x5f, 0x01, 0xe3, 0xbd, 0x3e, 0x60, 0x82, 0xdc,
    0x23, 0x7d, 0x9f, 0xc1, 0x42, 0x1c, 0xfe, 0xa0, 0xe1, 0xbf, 0x5d, 0x03, 0x80, 0xde, 0x3c, 0x62,
    0xbe, 0xe0, 0x02, 0x5c, 0xdf, 0x81, 0x63, 0x3d, 0x7c, 0x22, 0xc0, 0x9e, 0x1d, 0x43, 0xa1, 0xff,
    0x46, 0x18, 0xfa, 0xa4, 0x27, 0x79, 0x9b, 0xc5, 0x84, 0xda, 0x38, 0x66, 0xe5, 0xbb, 0x59, 0x07,
    0xdb, 0x85, 0x67, 0x39, 0xba, 0xe4, 0x06, 0x58, 0x19, 0x47, 0xa5, 0xfb, 0x78, 0x26, 0xc4, 0x9a,
    0x65, 0x3b, 0xd9, 0x87, 0x04, 0x5a, 0xb8, 0xe6, 0xa7, 0xf9, 0x1b, 0x45, 0xc6, 0x98, 0x7a, 0x24,
    0xf8, 0xa6, 0x44, 0x1a, 0x99, 0xc7, 0x25, 0x7b, 0x3a, 0x64, 0x86, 0xd8, 0x5b, 0x05, 0xe7, 0xb9,
    0x8c, 0xd2, 0x30, 0x6e, 0xed, 0xb3, 0x51, 0x0f, 0x4e, 0x10, 0xf2, 0xac, 0x2f, 0x71, 0x93, 0xcd,
    0x11, 0x4f, 0xad, 0xf3, 0x70, 0x2e, 0xcc, 0x92, 0xd3, 0x8d, 0x6f, 0x31, 0xb2, 0xec, 0x0e, 0x50,
    0xaf, 0xf1, 0x13, 0x4d, 0xce, 0x90, 0x72, 0x2c, 0x6d, 0x33, 0xd1, 0x8f, 0x0c, 0x52, 0xb0, 0xee,
    0x32, 0x6c, 0x8e, 0xd0, 0x53, 0x0d, 0xef, 0xb1, 0xf0, 0xae, 0x4c, 0x12, 0x91, 0xcf, 0x2d, 0x73,
    0xca, 0x94, 0x76, 0x28, 0xab, 0xf5, 0x17, 0x49, 0x08, 0x56, 0xb4, 0xea, 0x69, 0x37, 0xd5, 0x8b,
    0x57, 0x09, 0xeb, 0xb5, 0x36, 0x68, 0x8a, 0xd4, 0x95, 0xcb, 0x29, 0x77, 0xf4, 0xaa, 0x48, 0x16,
    0xe9, 0xb7, 0x55, 0x0b, 0x88, 0xd6, 0x34, 0x6a, 0x2b, 0x75, 0x97, 0xc9, 0x4a, 0x14, 0xf6, 0xa8,
    0x74, 0x2a, 0xc8, 0x96, 0x15, 0x4b, 0xa9, 0xf7, 0xb6, 0xe8, 0x0a, 0x54, 0xd7, 0x89, 0x6b, 0x35,
};

uint16_t       CRC_INIT        = 0xffff;
const uint16_t wCRC_Table[256] = {
    0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf,
    0x8c48, 0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7,
    0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e,
    0x9cc9, 0x8d40, 0xbfdb, 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876,
    0x2102, 0x308b, 0x0210, 0x1399, 0x6726, 0x76af, 0x4434, 0x55bd,
    0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e, 0xfae7, 0xc87c, 0xd9f5,
    0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, 0x453c,
    0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd, 0xc974,
    0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb,
    0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3,
    0x5285, 0x430c, 0x7197, 0x601e, 0x14a1, 0x0528, 0x37b3, 0x263a,
    0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72,
    0x6306, 0x728f, 0x4014, 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9,
    0xef4e, 0xfec7, 0xcc5c, 0xddd5, 0xa96a, 0xb8e3, 0x8a78, 0x9bf1,
    0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738,
    0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, 0x9af9, 0x8b70,
    0x8408, 0x9581, 0xa71a, 0xb693, 0xc22c, 0xd3a5, 0xe13e, 0xf0b7,
    0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff,
    0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036,
    0x18c1, 0x0948, 0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e,
    0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5,
    0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd,
    0xb58b, 0xa402, 0x9699, 0x8710, 0xf3af, 0xe226, 0xd0bd, 0xc134,
    0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, 0x6e6e, 0x5cf5, 0x4d7c,
    0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, 0xa33a, 0xb2b3,
    0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9, 0x2f72, 0x3efb,
    0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232,
    0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a,
    0xe70e, 0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, 0x93b1,
    0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9,
    0xf78f, 0xe606, 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330,
    0x7bc7, 0x6a4e, 0x58d5, 0x495c, 0x3de3, 0x2c6a, 0x1ef1, 0x0f78
};

/*
** Descriptions: CRC8 checksum function
** Input: Data to check,Stream length, initialized checksum
** Output: CRC checksum
*/
uint8_t Get_CRC8_Check_Sum(uint8_t* pchMessage, uint16_t dwLength, uint8_t ucCRC8)
{
    uint8_t ucIndex;
    while (dwLength--)
    {
        ucIndex = ucCRC8 ^ (*pchMessage++);
        ucCRC8  = CRC8_TAB[ucIndex];
    }
    return (ucCRC8);
}

/*
** Descriptions: CRC8 Verify function
** Input: Data to Verify,Stream length = Data + checksum
** Output: True or False (CRC Verify Result)
*/
uint16_t Verify_CRC8_Check_Sum(uint8_t* pchMessage, uint16_t dwLength)
{
    uint8_t ucExpected = 0;
    if ((pchMessage == 0) || (dwLength <= 2))
        return 0;
    ucExpected = Get_CRC8_Check_Sum(pchMessage, dwLength - 1, CRC8_INIT);
    return (ucExpected == pchMessage[dwLength - 1]);
}

/*
** Descriptions: append CRC8 to the end of data
** Input: Data to CRC and append,Stream length = Data + checksum
** Output: True or False (CRC Verify Result)
*/
void Append_CRC8_Check_Sum(uint8_t* pchMessage, uint16_t dwLength)
{
    uint8_t ucCRC = 0;
    if ((pchMessage == 0) || (dwLength <= 2))
        return;
    ucCRC                    = Get_CRC8_Check_Sum((uint8_t*)pchMessage, dwLength - 1, CRC8_INIT);
    pchMessage[dwLength - 1] = ucCRC;
}

/*
** Descriptions: CRC16 checksum function
** Input: Data to check,Stream length, initialized checksum
** Output: CRC checksum
*/
uint16_t Get_CRC16_Check_Sum(uint8_t* pchMessage, uint32_t dwLength, uint16_t wCRC)
{
    uint8_t chData;
    if (pchMessage == NULL)
    {
        return 0xFFFF;
    }
    while (dwLength--)
    {
        chData = *pchMessage++;
        (wCRC) = ((uint16_t)(wCRC) >> 8) ^ wCRC_Table[((uint16_t)(wCRC) ^ (uint16_t)(chData)) & 0x00ff];
    }
    return wCRC;
}

/*
** Descriptions: CRC16 Verify function
** Input: Data to Verify,Stream length = Data + checksum
** Output: True or False (CRC Verify Result)
*/
uint32_t Verify_CRC16_Check_Sum(uint8_t* pchMessage, uint32_t dwLength)
{
    uint16_t wExpected = 0;
    if ((pchMessage == NULL) || (dwLength <= 2))
    {
        return 0;
    }
    wExpected = Get_CRC16_Check_Sum(pchMessage, dwLength - 2, CRC_INIT);
    return ((wExpected & 0xff) == pchMessage[dwLength - 2] && ((wExpected >> 8) & 0xff) == pchMessage[dwLength - 1]);
}

/*
** Descriptions: append CRC16 to the end of data
** Input: Data to CRC and append,Stream length = Data + checksum
** Output: True or False (CRC Verify Result)
*/
void Append_CRC16_Check_Sum(uint8_t* pchMessage, uint32_t dwLength)
{
    uint16_t wCRC = 0;
    if ((pchMessage == NULL) || (dwLength <= 2))
    {
        return;
    }
    wCRC                     = Get_CRC16_Check_Sum((uint8_t*)pchMessage, dwLength - 2, CRC_INIT);
    pchMessage[dwLength - 2] = (uint8_t)(wCRC & 0x00ff);
    pchMessage[dwLength - 1] = (uint8_t)((wCRC >> 8) & 0x00ff);
}

/*
** Descriptions: 在空闲中断发生后调用
@ called after uart idle it.
** Input: None
** Output: Nine
*/
void judgementDataHandler()
{
    //uint8_t cnt = 0;
    memcpy(&testFrameHeader, judge_buf, sizeof(tFrameHeader));

    //test
    testNum++;

    if ((testFrameHeader.sof == SOF_FIXED)
        && (1 == Verify_CRC8_Check_Sum(judge_buf, sizeof(tFrameHeader)))
        && (1 == Verify_CRC16_Check_Sum(judge_buf, sizeof(tFrameHeader) + CMD_LEN + testFrameHeader.dataLen + CRC_LEN)))
    {
        memcpy(&testCmdId, (judge_buf + sizeof(tFrameHeader)), sizeof(testCmdId));
       
        switch (testCmdId)
        {
        case GameInfoId:
            memcpy(&testGameInfo, (judge_buf + sizeof(tFrameHeader) + sizeof(testCmdId)), testFrameHeader.dataLen);
            testNum--;
            break;

        case RealBloodChangedDataId:
            memcpy(&testRealBloodChangedData, (judge_buf + sizeof(tFrameHeader) + sizeof(testCmdId)), testFrameHeader.dataLen);
            break;

        case RealShootDataId:
            memcpy(&testRealShootData, (judge_buf + sizeof(tFrameHeader) + sizeof(testCmdId)), testFrameHeader.dataLen);
            break;
        }
    }
}



void upload_self_data(tStudentSelfDefineData* d)
{
    u8 total_len = sizeof(tFrameHeader)+CMD_LEN+sizeof(tStudentSelfDefineData)+CRC_LEN;
    u8 buf[total_len];
    u16 cmd = StudentUploadDataId;
    tFrameHeader fh;
    fh.sof = SOF_FIXED;
    fh.dataLen = sizeof(tStudentSelfDefineData);
    fh.seq=0;
    Append_CRC8_Check_Sum((u8*)&fh, sizeof(tFrameHeader));
    memcpy(buf, &fh, sizeof(tFrameHeader));
    memcpy(buf+sizeof(tFrameHeader), &cmd, CMD_LEN);
    memcpy(buf+sizeof(tFrameHeader)+CMD_LEN, d, sizeof(tStudentSelfDefineData));
    Append_CRC16_Check_Sum(buf, total_len);

    //pack done. call send function.
    HAL_UART_Transmit(&JUDGE_HUART, buf, total_len, 1000);
}
